The melting rate of steel bars with various sizes, shapes, and initial temperatures in a 70 kg liquid steel bath (1650°C) was measured to investigate the kinetics involved in steel scrap melting. Our measurements revealed that a solidified shell was formed around the original bar immediately after it was immersed into the liquid steel. This shell and an associated interfacial gap generated between it and the original bar were found to be critical to the melting kinetics. We also found that the total melting time decreased linearly with increasing initial bar temperature. The melting process was simulated using a two-dimensional phase-field model that considered heat convection with a constant heat-transfer coefficient. Our simulations were in good agreement with our experiments and showed that the heat conduction associated with the interfacial gap was one of the most important physical aspects controlling the melting of steel scrap.